Warehouse system with automatic means to selectively transfer a single or plurality of articles

ABSTRACT

An automatic warehousing system having a mechanized load carrier including an extensible extractor, for depositing loads into and withdrawing loads from the associated storage structure, and including control means for the load carrier whereby a plurality of smaller loads or a single large load can be stored in each storage location, and the extractor is operable to selectively remove from a selected storage location one or more of the loads stored therein.

United States Patent Appl. No.

' Int. Cl.

Sanford Saul Cleveland, Ohio 784,056 Dec. 16, 1968 Jan. 12, 1971 The Triax Company Cleveland, Ohio 1 a corporation of Ohio Inventor Filed Patented Assignee WAREHOUSE SYSTEM WITH AUTOMATIC MEANS T0 SELECTIVELY TRANSFER A SINGLE 0R PLURALITY 0F ARTICLES 14 Claims, 10 Drawing Figs.

U.S. Cl 214/16.4 865g 1/06 Field of Search 214/1 64,

References Cited UNITED STATES PATENTS 8/1939 lversen 2,571,508 10/1951 Whelanetal 2l4/16.1(8) 2,785,809 3/1957 Riblet 214/16.1(8) 2,873,089 2/1959 Porter 2l4/l6.1(4) 2,890,802 6/1959 Alimanestiano.. 214/16. 1(4) 2,904,197 9/1959 Asheim et al..... 2l4/l6.1(4) 2,988,237 6/1961 Devol 214/11 3,219,207 11/1 965 Chasar 214/16.4(2) 3,387,724 6/1968 Armington 214/16.4(2) 3,393,814 7/1968 Atwater 214/16.4(2)

Primary Examiner-Gerald M. Forlenza Assistant Examiner-Raymond B. Johnson AttorneyBaldwin, Egan, Walling and Fetzer ABSTRACT: An automatic warehousing system having a mechanized load carrier including an extensible extractor, for depositing loads into and withdrawing loads from the associated storage structure, and including control means for the load carrier whereby a plurality of smaller loads or a single large load can be stored in each storage location, and the extractor is operable to selectively remove from a selected storage location one or more of the loads stored therein.

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WAREHOUSE SYSTEM WITH AUTOMATIC MEANS TO SELECTIV ELY TRANSFER A SINGLE OR PLURALITY OF ARTICLES This invention relates in general to automatic warehousing systems for storing and unstoring loads by transferring them between a mo ab e load carrier and a storage frame comprising columns of stacked storage locations or bins, and more pa ticularly relates to an automatic warehousing system -rcia plural loads can be stored in a single bin opening or sro rage location in the storage structure.

The ability to store a plurality of loads, such as for instance a pair of loads instead of a single load in a single storage opening or storage bin in an automatic warehousing arrangement is highly desirable, and includes the advantages of generally faster handling of loads and a reduction in the cost of floor area for the storage structure. In those automatic systems ich include a plurality of storage aisles serviced by a pluralinf automatic load carriers, a reduction in the required number of load carriers for storing and unstoring the loads may be realized.

The present invention provides an automatic warehousing system wherein the load carrier has a laterally movable extractor portion for handling loads at selected storage locations, and wherein the control system for the load carrier may be selectively programmed to vary the extent of lateral movement of the extractor with respect to the load carrier, to thus vary the extent of lateral movement of the extractor into a selected storage opening or bin, the latter being disposed in confronting relation'to the extractor in the load handling position of the load carrier, and thus provide for the handling of one load or a plurality of loads at a selected storage bin. Accordingly, the system possesses the ability to store and retrieve more than one load into and from a single storage bin or storage opening in the storage structure.

Accordingly, an object of the invention is to provide a novel warehousing system incorporating therein control means for enabling storage and retrieval of a plurality of loads into and from a single storage location or storage bin of the system.

Another object of the invention is to provide an automatic warehousing system which includes a storage frame and. a powered load carrier movable in a travel zone alongside of the storage frame for inserting loads into and removing loads from the storage frame, and with there being control means for the load carrier for automaticallycontrolling the movement of the of the aforediscussed type-wherein the control means includes means for sensing the location of a load on the extractor for verifying that the load on the extractor is in the right location with respect thereto for being deposited into the selected storage bin and in accordance with the distance that the extractor has been programmed for movement into the selected storage bin for handling a load thereat.

A still further object of the invention is to provide a system of the latter discussed type which includes means for causing the load carrier to return to its starting position in the event that the sensing means indicates that the load is not in proper location on the extractor for carrying out the programmed operation of extractor movement.

Other objects and advantages of the invention will be apparent from the following description taken in conjunction with the accompanying drawings wherein:

FIG. 1 is a diagrammatic perspective view of an automatic warehousing system installation of the general type with which the present invention may be utilized; the system illustrated is of the general type disclosed in-U.S. Pat. No. 3,402,835 of Sanford Saul issued Sept. 24, 1968;

FIG. 2 is a broken, generally diagrammatic end elevational view of the type of warehousing system illustrated in FIG. 1, showing in phantom lines the storage of a plurality of loads in certain of the storage bins or storage locations in the system; and in other of the storage locations a single load; there is also shown a plurality of the storage aisles, rather than the single aisle illustrated in FIG. 1;

FIGS. 3 and 4 are respectively, fragmentary side and end elevational views of the elevator and associated laterali movable extractor of the load carrier of the warehousing system, and showing the location of photoelectric sensors thereon which are operable to sense thepo'sition of a load on the extractor (a load on either the left has .2 portion or the right hand portion of the extractor, or on both portions in the case of a single large load);

FIG. 5 is a generally diagrammatic, fragmentary, end elevational view of the elevator showing the extractor extended laterally its maximum distance outwardly from the elevator (from the left hand side of the elevator) for handling a load at the rear half of the selected storage bin location; in phantom lines there is shown the lateral extension of the extractor to the other side of the elevator (the right hand side) and with the extractor being extended approximately half its maximun lateral extendible distance, for handling a load at the forward or front half of a selected storage bin location;

FIGS. 6 and 7 are schematic portions of the circuitry of the control system for the load carrier corresponding in general to FIGS, 98 and 9C respectively of aforementioned US. Pat. No. 3,402,835, but with the addition thereto of the selector switches for the first and second command controls, for programming the extractor for movement laterally either into the front half only of the selected storage location, or for complete extension into the rear half of the selected storage location; the changes from the FIGS. 98 and 9C circuitry of US. Pat. No. 3,402,835 have been enclosed by dashed lines in FIGS. 6 and 7, to aid in identification thereof;

FIG. 8 is a schematic of a portion of the circuitry of the con trol system for the warehousing system illustrating the crrcuitry controlling the lateral movable extractor of the load carrier, and corresponds in general to FIG. 9E of aforementioned US. Pat. No. 3,402,835, but with the addition thereto of control circuitry as identified by the dash-lined polygons in lines 48 and 51 thereof, for controlling the power means which powers the laterally movable extractor and thus controls the movement of the extractor either to its full lateral extension or to approximately half its full lateral extension;

FIG. 9 is a fragmentary schematic of control circuitry for use in combination with the circuitry of FIGS. 6, 7 and 8, for controlling the full extension of the extractor for movement to the rear half of the selected storage bin location, and illustrating the sensing circuitry for sensing the location of the load on the extractor, for verifying that the load on the extractor IS in proper position for movement into the portion of the selected storage bin that the extractor has been programmed for; and

FIG. 10 is a fragmentary schematic illustrating the control circuitry for controlling the extractor and returning it to starting condition in the event that the position of the load or loads on the extractor as sensed by the sensing mechanism does not correspond to the distance that the extractor has been pro grammed for movement into the selected storage bln location.

Referring now again to the drawings, the exemplary warehousing system illustrated comprises a warehousing framework or warehousing storage structure 10 constructed, in the embodiment illustrated, of elongated structural members of any suitable cross section or shape. In the embodiment illustrated the storage structure has generally parallel storage bank sections 12 and 14 defining therebetween a travel zone or aisle 16, so as to permit a motorized load carrier, Indicated generally at 18, to be moved along the aisle or travel zone, and to deposit and/or retrieve a load or loads from the storage bins 20 formed by each of the storage bank sections. As can be seen in FIG. 2, more than one aisle with storage banks arranged therealong may be provided in the warehousing system.

Each storage bank may be constructed of a plurality of vertically extending posts 22 spaced apart by plurality of generally horizontally extending load supporting members 224 defining the aforementioned storage bins or storage locations 20. Stringers 23 may be provided tying the storage banks adjacent each storage aisle together into a generally rigid structure.

As can be best seen in FIG. 1, the load carrier may be adapted for positioning in front of the storage structure at a pi \up and discharge station or stations 24, from which beginning position the load carrier may start its movement into the aisle or travel zone to deposit or pickup loads in the storage sections. The pickup stations may be serviced by any suitable means, such as for instance a conveyor system, or lift trucks, or the like, for depositing loads thereon that are to be stored in the storage structure, and for removing loads therefrom which have been removed from the storage structure and deposited on the pickup and discharge station by the mechanized load carrier.

The load carrier 18 in the embodiment illustrated comprises a carriage portion 26 which rides on track members 30 mounted on storage sections 12 and 14, for supporting the load carrier as it moves along the aisle or travel zone 16. Generally upright mast structure 32, fonned in the embodiment illustrated of a pair of longitudinally spaced vertically extending track members, is secured to the carriage 26. The upper and lower ends of the mast structure may be provided with frames 31, 310 respectively, with generally horizontally rotatable rollers 33 (FIGS. 3 and 4) mounted thereon, adapted for engagement with complementary rails 33a mounted on the aisle side of each of the storage sections, thereby guiding the upper and lower ends of the load carrier as it moves along the aisle, and providing in conjunction with the carriage 26 and associated mast structure 32, stabilizing engagement between the load carrier and the storage sections 12 and 14. Such horizontally movable section of the load carrier may be conventionally referred to as the conveyor portion of the load carrier, with such conveyor portion being driven longitudinally as by means of a preferably reversible electric motor k (FIG. I) mounted on the carriage 26 and operably coupled as by means of suitable drive mechanism to at least one of the supporting wheels 34 of the carriage, for powering the load carrier along the rails 30.

The load carrier also includes a vertically movable elevator portion 35 adapted for movement along the vertical tracks 32 of the mast structure of the conveyor portion, to substantially the full height of the storage structure. The elevator portion 35 may be moved vertically with respect to the mast structure by means of preferably reversible electric motor s mounted on the upper portion of the conveyor portion of the load carrier, and operably coupled to the elevator 35 in a known manner.

Mounted on the elevator portion 35 may be an extractor mechanism 38 which is adapted to move laterally of the elevator with a load L or loads L', L supported thereon, for depositing the load or loads in a selected storage bin of the storage structure, or to move laterally of the elevator and pick up a load or loads that are in the storage structure, and move the load or loads to another location in the storage structure or back to the pickup and discharge station of the warehousing system. Referring to FIG. 5, the'extractor preferably provides an extensible table formed in the embodiment illustrated of upper and lower sections 40, 40a supported one above the other with such table being extendible in either of the opposed directions transverse of the direction of movement of the load carrier in its travel zone, so as to locate the upper table section within either of the storage sections 12 and 14 effective to place the extensible table in position to deposit or remove a load or loads from a selected one of the storage locations. Suitable power means such as a reversible electric motor 115 (FIG. 1) may be provided operably coupled to the extractor for actuating the latter. Reference may be had to the aforementioned U.S. Pat. No. 3,402,835 for a more detailed discussion of suitable extractor mechanism.

When depositing a load or a pair of loads in a selected one of the storage bins or storage locations of the storage structure, the elevator 35 and associated extractor 38 are adapted to be located opposite the selected storage bin location or opening, such that as the load is moved into the selected storage bin by extending the extractor, the upper surface of the extractor portion 40, supporting the load or loads s slightly above the load supporting rail members 22a mounted on the sides of and defining the bottom extremity of the selected storage bin. When the load iscompletely within the confines of the bin the elevator may be lowered slightly to deposit the load onto the load supporting members and permit retraction of the extractor back to its normal generally centered relationship with respect to the elevator.

When removing a load from the storage structure, the top surface of the extractor portion 40 is so positioned that such top surface is slightly below the load or loads in the selected storage bin, and when the extractor is properly positioned beneath the load, the elevator may be raised to lift the load off of its respective supporting members 22a, and then the extractor is moved back to its generally centered relationship with respect to the elevator to return the extractor and associated load or loads back onto the elevator.

As shown in FIG. 1, the load carrier may include a control console 42 which mounts a plurality of controls thereon and adapted for actuation as for instance by the warehousing operator, to programthe movement of the load carrier from the pickup and discharge station to the selected load handling position or positions in the storage frame, and then usually to return to thepickup and discharge station, and as described in aforementioned U.S. Pat. No. 3,402,835. However, the load carrier may also be remotely controlled from a location remote from the load carrier, and may be automatically programmed as by means of a computer.

In the normal operation of the load carrier, the latter is moved to the selected opening in the storage structure by the horizontally movable conveyor portion and the elevator is moved progressively or simultaneously vertically to the selected load level. The extractor is then moved laterally into the storage bin to either pick up a load or loads at the selected load level in the storage frame or to deposit a load or loads from the extractor onto the load supports 22a in the selected storage bin. The aforesaid movements of the conveyor portion of the load carrier and the movements of the elevator and the extractor portions thereof are all preferably automatically actuated in a predetennined series of simultaneous and/or sequential movements to store and/or retrieve a load or loads, and as by means of automatic control means of the general type disclosedin the aforementioned U.S. Pat. No. 3,402,835.

However, in accordance with the present invention, the controls for the extractor portion 38 are such that the extent of lateral movement of the extractor into the selected load storage location or storage bin can be selectively varied, thereby providing for the handling of a plurality of loads, and in the embodiment illustrated a pair of half loads, in each storage bin. One L (FIG. 2) of the pair of half loads is adapted to be stored in the front portion A or A of the selected bin in the selected storage section, while the other load L" of the pair is adapted to be stored in the rear portion B or B of the selected bin in the selected storage section. From FIGS. 1 and 2, it will be seen that each storage section disposed along the travel zone for the load carrier may be considered to be divided by an imaginary longitudinal vertical plane, so that each of the storage bins or storage locations can be said to comprise a front A or A storage section and a rear storage section B or B 1 Referring now to FIGS. 6 and 7, and particularly to the storage section selector switch controls 58 in lines 18 through 21b of FIG. 6=and the switch controls 59 in lines 22 through 230 of FIG. 7, it will be seen that there is provided first and second command switches for each front and rear portion of a storage bin in both the left and right hand storage sections of the storage structure (L identifies the left hand storage section 'start button 52.

12 and the right hand storagesection 14),.For instance, if I 14 for the second command, and if the first'command involves the handling-ofa half load-in the front section A of the 1 selected storage. bin, and the second-command involves the handling of a half load in the rear section .B of the selected storage bin, then selector switch L l of switchbank 58 would be actuated for the first command and selector switch R-2 of switch bank 59 would be actuated for the second command, thus programming the extractor to extend laterally left approximately one-half its fullextension for the first command load handling position and then to extend right its full lateral extension for the second icommand load handling position. The aforementioned selector switches may be actuated by the operator from the control console 42 on the load carrier, or as aforementioned from some remote location. l I Referring to FIG. 9, it'will be seen that there is provided a pickup and discharge extractor extension switch 43 which when closed programs the'extractor for its full lateral extension into the selected storage bin...When closed, switch 43 completes the circuit to control relay 30CR via normally open contacts CRPD of control relay CRPD (line 21, FIG. 6). Switch 43 may be located on control console 42. Also in circuit with the control relay 30CR are the storage section selector switches. and 44' for programming the first and second commands'respectively of the load carrier cycle when the extractor isto be moved its full lateral-extent, for handling a half load at the rear section B or B of each load handling position mally open contact SCR of first command control relay SCR i 10, FIG. 6) relay CR (FIG. 9) will be energized since normally open relay contact SCR (FIG. 9) has closed due to energization of relay SGR (line 18, FIG. 6). The normally open relay contacts 30CR in lines'47a and '52 of FIG. 8 will thus close and current is supplied to extractor motor control relay 3ML (line 50, FIG. 8) to cause energization of the extractor motor 115 and therefore extension of the extractor its full amount laterally from the elevator to the left and into the selected bin. 1 t

In FIG. 8, it will be seen that normally closedlirnit switch contacts 40LSR' and 40LSL-' are disposed in parallel with aforementioned relay contacts 30CR (lines 48 and 5] respectively of 'FIG. 8). Limit switches 40LSR and 40LSL may be mounted on the elevator and are adapted for actuation by the extractor upon movement of the extractor to its half extended lateral position from the respective sideof the elevator, and as shown in phantom lines on the right hand side of FIG. 5 (limit switch 40LSR being shown actuated). In lines 51 and 52 of FIG. 8, nonnally open contacts 40LSR" and 40LSL" of limit switches 40LSR and 40LSL are disposed in parallel and with such contacts being in series with normally closed contact 30CR (Iine52, FIG. 8) of aforementioned control relay 30C R. If thelextractor programming only involves moving the extractor half its full extendible distance into the bin to handle a load at the front portion A or A of the respective bin, then it will be. seen that upon movement of the extractor to its half way mark, the limit switch contact 40I;SL' or 40LSR (depending I .in the. operating cyclel'of the load*carrie r,- or for handling full loads at theselected storage locations, As can be seen in FIG. 9,each firstcomr'narid switch L -2',- R4 is in circuit with nor-.

2" is in circuit with normally opencontact 10CR of second command control relay l0CR-(line Sow-FIG. 8). The cycle start bottom contactSZ which is controlled by the'cycle start button 52in FIG. 6, lines 9 and 17, is also disposed in circuit ,withthe-contr'ol relay 30CR via the normally open contacts "SDCR- of reIay S OCR on'tacjt5 2'olosesiupon closing of cycle Referring now to. FIG.-'8 :which illustrates the portion of the I control circuitry for controlling energiiation of the motor 'con trol relays 3MR a'nd3ML of the 'extractormotor 115 of the load carrier,, this schematic is thejsarneas FIG. 9E of U.S. Pat.

No. 3,402,835, except forthe circuitry enclosed by the phantom lined polygons in lines-48 and 51, 52 thereof. The operation of the load carrier in its vertical" and horizontal move- 1 mentsto a selected storage location or storage bin and the lateral movementof the extractor to handle a load at each selected bin, is described in U.S. Pat. No. 3,402,835 and will not be repeated here. Suffice it to say. that when the load carrier is disposed in confronting relation 'to a selected bin after horizontal and vertical'positioning movements, limit switch 7 contact llLS (line 49,"FlG. ,8) and one orthe other of limit switchcontacts 8LSI-l and 8ILSL (depending on whether a load is to be deposited into or withdrawn from the bin) will have been closed in line 49 of FIG. 8, while the corresponding on the direction of extension of the extractor) will be opened upon arrival of the extractor table at its half extended position. to therebycutoff the flow of current to the associated of the extractor motor control relays 3MR or 3ML, thereby stopping lateral movement of the extractor and causing application of the extractor brake, for handling of the load at the front portion of the selected bin. Upon openingof limit switch contact 40LSR' or 40LSL', the associated limit switch contact 40LSR" or 40LSL" (lines 51 and 52, FIG. 8) will close. Since I the extractor had not been programmed for full lateral exten- 30CR in lines 474 and 52 of F IG. Sremain open and therefore sion (FIG. 9) from the elevator, relay 30CR did not become energized and therefore the normally open relay contacts .upon opening of one or the other of limit switch contacts 40LSR' or 40LSL' ,(lines 48 and 51, FIG. 8) as aforedescribed, the current: to the extractor motor relays 3MR or 3MI. is cutoff to cause application of the brake to the extractor motor 115 and stop further movement of the extractor.

. load support members, and then the extractor moves back into generally centered relationship with respect to the eleva- -tor preparatory to movement of the load carrier to the next pending upon-the direction of extension to which the extractor has been programmed. Assuming for example that the extractor has been programmed for full lateral extension into storage section 12 for the first command of the load carrier, and as shown in FIG. 5 on the left handside thereof, switch contact L-2 of switch bank 58 (FIG. 6)- and switch contact L-2" of switch bank 44 (FIG. 9) would have been closed during pro-- grarnming of the load carrier. When the cycle start contact 52' (FIG. 9) closes upon depression of cycle start button 52 (line load handling position in the storage structure or movement of the load carrier back to its starting position.

Referring now againto FIGS. 3, 4, 5, 9 and 10, it will be seen that there is provided in the control system detecting sensing means 46, 46a for determining the location of a load on the extractor, forverifying that the load on the extractor is in proper position for handling by the extractor in accordance with the programming that the extractor control system has received (i.e. either half lateral extension of full lateral extension to the right or the left). The sensors in the embodiment illustrated comprise photocells and associated light source with the photocells being mounted on the elevator (FIGS. 3, 4 and 5) and disposed in circuit with the power line L14 (FIG. 9). The light source for each of the respective photocells senses the position of the load on the extractor. For instance, the photocell IPEL when it is receiving the beam of light from its associated light source, indicates that there is no load on the left end of the extractor, and the photocell lPER when receiving the beam of light from the associated light source indicates that there is no load on the right end of the extractor. If a load is disposed on the left end of the extractor, such load blocks the beam of light from the associated light source and causes the photocell to deenergize the associated control relay 1CR- PEL (FIG. 9). If the beam of light on the right side of the elevator becomes blocked by a load on the right end of the extractor, the associated photocell relay ICRPER (FIG. 9) becomes deenergized.

Referring now to FIGS. 9 and 10, the following conditions are undesirable from an operational standpoint. If they occur, reject relay 31CR (FIG. is energized which results in nullification of the load carrier cycle, and return of the load carrier to its starting position (e.g. the pickup and discharge station).

If an attempt is made to pick up a load (either a full size load or a single load) in section B or B of the selected storage bin in storage sections 14 and 12 and a single load L is already positioned on the extractor, either on the right-hand or the left-hand end of the extractor, the associated control relay ICRPEL or ICRPER (FIG. 9) becomes deenergized, thus resulting in closing of the associated relay contact, either ICRPEL or ICRPER (lines 81 and 82 respectively, FIG. 10). Since the normally open contact 30CR(line 81, FIG. 10) is closed due to energization of the relay 30CR (FIG. 9) as aforedescribed, reject relay 31CR becomes energized. Energization of the reject relay 31CR causes the normally closed relay contact 31CR in line 10, FIG. 6 to open, which causes control relay 4CR to drop out, and causes deenergization of control relay SCR (line 18, FIG. 6) and causes relay ZTR (line 16, FIG. 6) to drop out which will cause energization of relay coil 3TR (line 57, FIG. 8). When relay 3TR times out, the 3'IR contact (line 58, FIG. 8) closes to energize relay coil 12CR (line 58, FIG. 8). Thus, relay 1M Reverse, 1M Fast (lines 26 and 27, respectively, of FIG. 7) and relays 2M Down and 2M Fast (lines 44 and 45, respectively, of FIG. 8) are energized and the load carrier moves back toward its starting position, which in the embodiment illustrated is the pickup and discharge station. It will be seen that if the load carrier is at the pickup and discharge station with the aforedescribed reject condition, then energization of reject relay 31CR prevents movement of the load carrier into the storage aisle, upon opening of normally closed contacts 31CR in line 10 of FIG. 6. It will be seen, therefore, that when there is a single load already on the extractor, and either at the P and D station or at a location within the storage complex, and the extractor has been programmed to extend its full lateral amount to pick up a load in a rear portion B, or B of the selected storage bin in the storage frame, that a reject cycle is initiated to cancel the programmed load handling cycle, and to return the load carrier to its beginning position.

With further reference to FIG. 10, if an attempt is made to pickup a load in a bin portion A at the selected storage location in storage section 12 with a load already on the left-hand end of the extractor which will cause deenergization of sensor IPEL, then the relay contact ICRPEL in line 83 of FIG. 10 closes and relay contact ICRL (unlatched) in line 83 is closed due to the programming of the extractor to the left, and energization of the reject relay 31CR occurs to initiate the aforedescribed reject cycle. Likewise, if an attempt is made to pickup a load in a bin portion A of right hand storage section 14, with a load already on the right hand'end of the extractor, then contact ICRPER (line 84, FIG. 10) is closed as is latched relay contact 1CRL (line 84, FIG. 10) and energization of reject relay 31CR occurs to thereby initiate the reject cycle for the load carrier.

If an attempt is made to store a load in a front bin portion A of left hand storage section 12 with a single load only on the right hand end of the extractor, then it will be seen that the ICRPER relay contact in line 86 of FIG. 10 closes, and since relay contact ICRPEL and contact 1CRL (line 86, FIG. 10) will also be closed, the reject relay 31CR will be energized since the ZCRL contact (line 85, FIG. 10) is closed. Likewise, if an attempt is made to store a load in a front portion A of a bin in the right hand storage section 14 with a single load on the left hand end of the extractor, then relay contact ICRPEL (line 85, FIG. 10) closes due to the interruption of the light beam from the light source to the associated photocell IPEL, and since photocell relay contact ICRPER (line 85, FIG. I0) is closed and contacts 1CRL and ZCRL (line 85, FIG. 10) are closed, energization of reject relay 31CR occurs to cause initiation of the aforedescribed reject cycle for the load carrier and return of the load carrier to its starting position.

From the foregoing discussion and accompanying drawings it will be seen that the invention provides an automatic warehousing arrangement which includes a control system enabling the storage of plural loads in one bin opening or storage location of the storage structure, and an economical system which increases the usability of an automatic warehousing structure. A warehousing system is provided wherein the extractor may be programmed for movement to various predetermined positions laterally of the supporting elevator, for storing one or more loads in the storage locations in the warehousing complex, and wherein sensing means are provided for determining the position of a load on the extractor so as to verify the correct positioning of the load on the extractor with the chosen programming of the extractor.

The terms and expressions which have been used are used as terms of description and not of limitation and there is no intention in the use of such terms and expressions of excluding any of the features shown or described or portions thereof, and it is recognized that various modifications are possible within the scope of such terms and expressions utilized.

I claim:

1. In a warehousing system comprising a storage structure having a plurality of load storage locations therein for receiving loads and a load carrier movable in a travel zone for inserting loads into and withdrawing loads from said storage structure, an extractor mounted on said carrier movable generally laterally of said carrier into a selected storage location for handling a load thereat, means for mounting said extractor on said carrier, power means for operating said extractor, circuit means connected to said power means, means for detecting the location of a load positioned on said extractor, and control means in said circuit means responsive to said detecting means for at least selectively actuating said extractor for various extents of lateral movement with respect to said load carrier and into a selected one of said storage locations whereby a single or a plurality of spaced loads may be selectively stored or retrieved from a selected storage location.

2. A system in accordance with claim I wherein said load carrier includes a vertically movable elevator with said extractor being mounted on said elevator for lateral movement with respect thereto and said detecting means including means on said elevator for detecting the location of one or more loads on said extractor.

3. A system in accordance with claim 1 wherein said storage structure comprises a plurality of spaced posts with generally horizontally oriented load support members mounted thereon, pairs of saidsupport members defining the bottom extremity of each of the storage locations and adapted to support loads thereon in bridging relation, and said extractor comprising an extensible table adapted for lateral movement into the storage structure at the selected storage location and being movable vertically intermediate a respective pair of the load support members, for handling a load at the selected storage location.

4. A system in accordance with claim 1 including a starting position from which said load carrier commences its movement into said travel zone and to which said load carrier is adapted to return, and including programmingmeans operable to program the load carrier for movement to a plurality of load handling locations in said storage structure prior to return of said load carrier to said starting position.

5. A system in accordance with claim 1 including other control means in said circuit means for selectively programming said extractor for various extents of lateral movement, and the first mentioned control means including reject means for preventing said load carrier from handling a load at the selected storage location in the event that said detecting means signals that said extractor is improperly programmed as determined by the'detecting eans indicating .the location of the load or'l'oads on said extractor.

6. A system in accordance with claim including a starting position from which said load carrier commences its movement into said travel zone and to which said load carrier is adapted to return after completion of its load handling cycle, 1 said reject means causing return of said-load carrier to its starting position prior to completion of its load handling cycle in the event that said detectingmeans signals that the extractor has been improperly programmed to either insert a load into or pick up a load from the selected storage location, as determined by the location of the load or loads on the extractor of the load carrier.

7. A system in accordance with claim 5 wherein said other control means includesselect'or switchmeans for selecting either full or partial extractor lateral extension for promeans.

9. A system in accordance with claim 7 wherein said storage structure includes storage bank sections disposed on opposite sides of said travel zone, said extractor being movable transversely of said travel zone into'a selected storage location in a selected one of said storage sections, and said selector switch means including switch means for programming said extractor for either full or partial extractor lateral extension for each of said storage sections. 3

10. A system in accordance 'with claim wherein said detecting means comprises photocells and an associated light source, with said photocells being normally energized by the associated light source but which become deenergized when a load on said extractor blocks the energy beam transmission from said light source to the respective photocell.

11. A system in accordance with claim 10 wherein said photocells are disposed on opposite sides of the transverse vertical center plane of said extractor and at approximately equal distances from said center plane.

12. A system in accordance with claim 3 wherein said extractor is movable into said storage structure at the selected storage location at a lower level slightly below the respective pair of load support members to pick up a load or loads and alternatively movable into said storage structure at a higher level slightly above the respective pair of load support members to deposit a load or loads, and switch means in said circuit means adapted for actuation by said extractor upon partial lateral extension of said extractor, to deactuate the power means for moving said extractor laterally and to actuate the power means for moving said extractor vertically intermediate the respective pair of load support members.

13. A system in accordance with claim 12 including control means in circuit with said switch means for bypassing the latter when said extractor is programmed for full lateral extension into the selected storage location.

14. A system in accordance with claim l3 wherein said load carrier comprises a vertically movable elevator with said extractor being mounted on said elevator for lateral movement with respect thereto, and wherein said switch means comprises limit switches mounted on said elevator in a position adapted for actuation when said extractor is extended approximately half its full lateral extension with respect to said elevator. 

1. In a warehousing system comprising a storage structure having a plurality of load storage locations therein for receiving loads and a load carrier movable in a travel zone for inserting loads into and withdrawing loads from said storage structure, an extractor mounted on said carrier movable generally laterally of said carrier into a selected storage location for handling a load thereat, means for mounting said extractor on said carrier, power means for operating said extractor, circuit means connected to said power means, means for detecting the location of a load positioned on said extractor, and control means in said circuit means responsive to said detecting means for at least selectively actuating said extractor for various extents of lateral movement with respect to said load carrier and into a selected one of said storage locations whereby a single or a plurality of spaced loads may be selectively stored or retrieved from a selected storage location.
 2. A system in accordance with claim 1 wherein said load carrier includes a vertically movable elevator with said extractor being mounted on said elevator for lateral movement with respect thereto and said detecting means including means on said elevator for detecting the location of one or more loads on said extractor.
 3. A system in accordance with claim 1 wherein said storage structure comprises a plurality of spaced posts with generally horizontally oriented load support members mounted thereon, pairs of said support members defining the bottom extremity of each of the storage locations and adapted to support loads thereon in bridging relation, and said extractor comprising an extensible table adapted for lateral movement into the storage structure at the selected storage location and being movable vertically intermediate a respective pair of the load support members, for handling a load at the selected storage location.
 4. A system in accordance with claim 1 including a starting position from which said load carrier commences its movement into said travel zone and to which said load carrier is adapted to return, and including programming means operable to program the load carrier for movement to a plurality of load handling locations in said sTorage structure prior to return of said load carrier to said starting position.
 5. A system in accordance with claim 1 including other control means in said circuit means for selectively programming said extractor for various extents of lateral movement, and the first mentioned control means including reject means for preventing said load carrier from handling a load at the selected storage location in the event that said detecting means signals that said extractor is improperly programmed as determined by the detecting means indicating the location of the load or loads on said extractor.
 6. A system in accordance with claim 5 including a starting position from which said load carrier commences its movement into said travel zone and to which said load carrier is adapted to return after completion of its load handling cycle, said reject means causing return of said load carrier to its starting position prior to completion of its load handling cycle in the event that said detecting means signals that the extractor has been improperly programmed to either insert a load into or pick up a load from the selected storage location, as determined by the location of the load or loads on the extractor of the load carrier.
 7. A system in accordance with claim 5 wherein said other control means includes selector switch means for selecting either full or partial extractor lateral extension for programming movement of a load to and from respectively the rear section or the front section of the selected storage location in the storage structure.
 8. A system in accordance with claim 7 including programming means operable to program said load carrier with at least first and second commands for movement sequentially to a plurality of load handling locations in said storage structure, and wherein said selector switch means include first command selector switch means and second command selector switch means.
 9. A system in accordance with claim 7 wherein said storage structure includes storage bank sections disposed on opposite sides of said travel zone, said extractor being movable transversely of said travel zone into a selected storage location in a selected one of said storage sections, and said selector switch means including switch means for programming said extractor for either full or partial extractor lateral extension for each of said storage sections.
 10. A system in accordance with claim 5 wherein said detecting means comprises photocells and an associated light source, with said photocells being normally energized by the associated light source but which become deenergized when a load on said extractor blocks the energy beam transmission from said light source to the respective photocell.
 11. A system in accordance with claim 10 wherein said photocells are disposed on opposite sides of the transverse vertical center plane of said extractor and at approximately equal distances from said center plane.
 12. A system in accordance with claim 3 wherein said extractor is movable into said storage structure at the selected storage location at a lower level slightly below the respective pair of load support members to pick up a load or loads and alternatively movable into said storage structure at a higher level slightly above the respective pair of load support members to deposit a load or loads, and switch means in said circuit means adapted for actuation by said extractor upon partial lateral extension of said extractor, to deactuate the power means for moving said extractor laterally and to actuate the power means for moving said extractor vertically intermediate the respective pair of load support members.
 13. A system in accordance with claim 12 including control means in circuit with said switch means for bypassing the latter when said extractor is programmed for full lateral extension into the selected storage location.
 14. A system in accordance with claim 13 wherein said load carrier comprises a vertically movable elevator with said extractor being moUnted on said elevator for lateral movement with respect thereto, and wherein said switch means comprises limit switches mounted on said elevator in a position adapted for actuation when said extractor is extended approximately half its full lateral extension with respect to said elevator. 